TWI851384B - Self-propelled thermal imaging system for indoor raw material storage yards - Google Patents

Abstract

A self-propelled thermal imaging system for indoor raw material storage yards includes a track, a trolley body, a motor power module, a motion control module, a radar wave positioning device, a visible light camera module, an infrared thermal imaging module, a data exchange module, and a wireless transmission module. The visible light camera module captures a visible light image of at least one of the raw material pile, the conveyor belt, and the roller. The infrared thermal imaging module captures an infrared thermal image of at least one of the raw material pile, the conveyor belt, and the roller. The data exchange module receives the visible light image transmitted by the visible light camera module and the infrared thermal image transmitted by the infrared thermal imaging module. The wireless transmission module receives the visible light image and the infrared thermal image transmitted by the data exchange module, and wirelessly transmits them to a ground master control station.

Description

Self-propelled thermal imaging system for indoor raw material storage yards

The present invention relates to a thermal imaging system, in particular to a self-propelled thermal imaging system for indoor raw material storage yards.

The storage and transportation of raw materials in the material yard affects the operational stability of the subsequent processes it supplies. In recent years, due to environmental protection factors such as suppressing dust emission, raw materials have been gradually changed to indoor storage. However, the vast raw material storage area has created a huge maintenance burden for the patrol personnel who maintain the operation of the material yard after being indoors and three-dimensional. Moreover, the indoor buildings of the raw material storage yard are mostly steel structures, which will block GPS signals, thus creating a bottleneck in the application of unmanned autonomous patrol technology.

Therefore, the purpose of the present invention is to provide a self-propelled thermal imaging system for indoor raw material storage yards.

Therefore, the self-propelled thermal imaging system for indoor raw material storage yards of the present invention is applicable to raw material piles, conveyor belts, rollers, and ground master control stations, and includes: a track, which is arranged along the inspection path; a trolley body; a motor power module, which is arranged on the trolley body and used to drive the trolley body to move on the track; a motion control module, which is arranged on the trolley body and used to control the movement of the trolley body; a radar wave positioning device, which is arranged on the trolley body and used to position the trolley body when it moves; a visible light camera module, which is arranged on the trolley body and used to take visible light images of at least one of the raw material pile, the conveyor belt, and the roller; an infrared thermal imaging module; , which is arranged on the trolley body and is used to capture the infrared thermal image of at least one of the raw material pile, the conveyor belt, and the roller; the data exchange module, which is arranged on the trolley body and is electrically connected to the visible light imaging module and the infrared thermal imaging module, and receives the visible light image transmitted by the visible light imaging module and the infrared thermal image transmitted by the infrared thermal imaging module; and the wireless transmission module, which is arranged on the trolley body and is electrically connected to the data exchange module, and receives the visible light image and the infrared thermal image transmitted by the data exchange module, and then wirelessly transmits the visible light image and the infrared thermal image to the ground master control station.

The effect of the present invention is that: through the original good design angle of the inspection path, the infrared thermal imaging module can perform a wide range and comprehensive thermal imaging temperature inspection on the surface of the raw material pile, the conveyor belt and the roller. Therefore, it can detect the temperature rise of the raw material pile due to long-term storage, and then implement corresponding measures to avoid its spontaneous combustion. At the same time, it can detect the temperature rise of the roller bearings along the track when they cannot rotate normally due to wear, and then implement the replacement operation of the roller bearings to avoid the conveyor belt from being stuck due to the roller and the friction caused by the conveyor belt being unable to operate normally.

Referring to Figures 1 and 2, the embodiment of the self-propelled thermal imaging system for indoor raw material storage yards of the present invention is applicable to the raw material pile 8, conveyor belt 51, roller 52, and ground master control station in the indoor raw material storage yard. In this embodiment, the self-propelled thermal imaging system for indoor raw material storage yards of the present invention includes a track 2, a trolley body 300, a motor power module 301, a motion control module 302, a radar wave positioning device 303, a visible light camera module 304, an infrared thermal imaging module 305, a data exchange module 306, a wireless transmission module 307, a battery module 308, a wireless charging module 309, a human-machine communication interface 310, and a remote power-off switch 311 for power-off maintenance.

In this embodiment, the track 2 is arranged along the outer side of the inspection path 90. The motor power module 301 is arranged on the trolley body 300 and is used to drive the trolley body 300 to travel on the track 2. The motion control module 302 is arranged on the trolley body 300 and is used to control the travel of the trolley body 300. The radar wave positioning instrument 303 is arranged on the trolley body 300 and is used to position the trolley body 300 while it is traveling.

In this embodiment, the visible light camera module 304 is disposed on the trolley body 300 and is used to capture a visible light image of at least one of the raw material pile 8, the conveyor belt 51, and the roller 52.

In this embodiment, the infrared thermal imaging module 305 is disposed on the trolley body 300 and is used to obtain an infrared thermal image of at least one of the raw material pile 8, the conveyor belt 51, and the roller 52.

In this embodiment, the data exchange module 306 is disposed on the trolley body 300 and is electrically connected to the visible light imaging module 304 and the infrared thermal imaging module 305, and receives the visible light image transmitted by the visible light imaging module 304 and the infrared thermal image transmitted by the infrared thermal imaging module 305.

In this embodiment, the wireless transmission module 307 is disposed on the trolley body 300 and is electrically connected to the data exchange module 306, and receives the visible light image and the infrared thermal image transmitted by the data exchange module 306, and then wirelessly transmits the visible light image and the infrared thermal image to the ground master control station.

In this embodiment, the battery module 308 is disposed on the trolley body 300 and serves as the power source of the motor power module 301. The wireless charging module 309 is disposed on the track 2 and is used to charge the battery module 308.

Referring to Figures 1 to 3, in this embodiment, the self-propelled thermal imaging system for indoor raw material storage yards of the present invention is mainly used to execute the full-field walking execution process shown in Figure 3. As shown in step S61 of Figure 3, in this embodiment, the ground master controller 91 can use the ground master control station to trigger, thereby generating a full-field walking instruction, as shown in step S62, to perform the full-field walking execution process from S64 to S68. Alternatively, as shown in step S63, the full-field walking instruction can also be generated based on a timed trigger of a preset time.

Therefore, as shown in step S64, when the wireless transmission module 307 receives the full-field running instruction, the human-machine communication interface 310 first determines whether the power of the battery module 308 is greater than the first power threshold value before the trolley body 300 runs. In this embodiment, the first power threshold value can be, for example, about 30% etc.

If the determination result of step S64 is negative, then as shown in step S65, the full-field running is interrupted, and the human-machine communication interface 310 displays a low-battery message, and then as shown in step S66, the trolley body 300 stays at the charging position to charge the battery module 308 using the wireless charging module 309.

On the contrary, if the determination result of step S64 is yes, then the whole-field running is performed as described in step S67. Then, when the whole-field running is completed, the charging is returned as shown in step S68.

Among them, during the execution of the full-field walking process in step S67, if the human-machine communication interface 310 identifies through the infrared thermal image that the temperature of the raw material pile is greater than the raw material pile temperature threshold, the temperature of the conveyor belt 51 is greater than the conveyor belt temperature threshold, and the temperature of the roller is greater than the roller temperature threshold, a high temperature warning message is automatically generated and wirelessly transmitted to the ground master control station through the wireless transmission module 307.

At this time, if the ground master controller 91 needs to implement fixed-point continuous monitoring for a specific area associated with the high temperature warning message, the fixed-point walking execution process shown in Figure 4 must be performed. That is, as shown in step S71 of Figure 4, the ground master controller 91 first inputs a fixed-point inspection command at the ground master control station to trigger the fixed-point inspection execution process.

As shown in step S72, before the fixed-point inspection execution process is performed, the human-machine communication interface 310 first determines whether the power of the battery module 308 is greater than the first power threshold value (i.e., 30%). If not, then as shown in step S73, the fixed-point inspection is interrupted, and the human-machine communication interface 310 displays the low power message, and then as shown in step S74, the trolley body 300 is forced to return to the charging position for charging.

On the contrary, if the human-machine communication interface 310 determines that the power of the battery module 308 is greater than the first power threshold value, then as shown in step S75, the trolley body 300 is moved to the specific area and stopped at a fixed point, and then as shown in step S76, it is determined whether the power of the battery module 308 is greater than the second power threshold value (for example, about 20%), if not, then as shown in step S73, the fixed-point inspection is interrupted, and the human-machine communication interface 310 displays the low power message, and then as shown in step S74, the trolley body 300 is forced to return to the charging position for charging.

On the contrary, if the determination result of step S76 is yes, then as shown in step S77, continuous visible light and thermal image monitoring is implemented for the specific area. Then, as shown in step S78, it is determined whether the ground controller 91 inputs an instruction to end the fixed-point inspection. If not, step S76 and other steps are executed again.

On the contrary, if the determination result of step S78 is yes, then as shown in step S79, the trolley body 300 returns to the charging position for charging.

In summary, the advantages and effectiveness of the self-propelled thermal imaging system for indoor raw material storage yards of the present invention are that, by virtue of the original good design angle of the inspection path 90, the infrared thermal imaging module 305 can conduct a wide range and comprehensive thermal imaging temperature inspection of the surface of the raw material pile 8, the conveyor belt 51 and the roller 52, thereby being able to detect the temperature rise of the raw material pile 8 due to long-term storage, and then implement corresponding measures to To avoid the occurrence of spontaneous combustion, the temperature rise of the roller 52 along the track 2 can be detected when the bearing of the roller 52 cannot rotate normally due to wear, and then the bearing of the roller 52 can be replaced to avoid the burning of the conveyor belt 51 caused by friction caused by the roller 52 getting stuck and unable to operate normally; therefore, the purpose of the present invention can be achieved.

However, the above is only an example of the implementation of the present invention, and it cannot be used to limit the scope of the implementation of the present invention. All simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the patent specification are still within the scope of the patent of the present invention.

2: Track

300: Trolley body

301: Motor power module

302: Motion control module

303: Radar wave positioning device

304: Visible light camera module

305: Infrared thermal imaging module

306: Data exchange module

307: Wireless transmission module

308:Battery module

309: Wireless charging module

310: Human-machine communication interface

311: Remote power off switch

51:Conveyor belt

52: Roller

8: Raw material pile

90: Inspection trail

91: Ground controller

S61~S68: Steps

S71~S79: Steps

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: FIG1 is a front view illustrating an embodiment of the self-propelled thermal imaging system for indoor raw material storage yards of the present invention, applicable to raw material piles, conveyor belts, rollers, and a ground master control station; FIG2 is a three-dimensional schematic diagram illustrating that in this embodiment, the self-propelled thermal imaging system for indoor raw material storage yards includes rails, a trolley, and a ground master control station; The main body, motor power module, motion control module, radar wave positioning device, visible light camera module, infrared thermal imaging module, data exchange module, wireless transmission module, battery module, wireless charging module, human-machine communication interface, and remote power-off switch and other components; Figure 3 is a flow chart illustrating the full-field running execution process of this embodiment; and Figure 4 is a flow chart illustrating the fixed-point running execution process of this embodiment.

2: Track

300: Trolley body

301: Motor power module

302: Motion control module

303: Radar wave positioning device

304: Visible light camera module

305: Infrared thermal imaging module

306: Data exchange module

307: Wireless transmission module

308:Battery module

309: Wireless charging module

310: Human-machine communication interface

311: Remote power off switch

Claims (10)

A self-propelled thermal imaging system for indoor raw material storage yards is applicable to raw material piles, conveyor belts, rollers, and a ground control station, and includes: a track, arranged along an inspection path; a trolley body; a motor power module, arranged on the trolley body, and used to drive the trolley body to move on the track; a motion control module, arranged on the trolley body, and used to control the movement of the trolley body; a radar wave positioning device, arranged on the trolley body, and used to position the trolley body when it moves; a visible light camera module, arranged on the trolley body, and used to take a visible light image of at least one of the raw material pile, the conveyor belt, and the roller; an infrared thermal imaging module, arranged The trolley body is provided with a data exchange module, which is electrically connected to the visible light imaging module and the infrared thermal imaging module, and receives the visible light image transmitted by the visible light imaging module and the infrared thermal image transmitted by the infrared thermal imaging module; and the wireless transmission module is provided on the trolley body, which is electrically connected to the data exchange module, and receives the visible light image and the infrared thermal image transmitted by the data exchange module, and then wirelessly transmits the visible light image and the infrared thermal image to the ground master control station. The self-propelled thermal imaging system for indoor raw material storage yards as described in claim 1 further comprises: a battery module, which is arranged on the trolley body and serves as a power source for the motor power module; and a wireless charging module, which is arranged on the track and used to charge the battery module. The self-propelled thermal imaging system for indoor raw material storage yards as described in claim 2 further comprises a human-machine communication interface, wherein when the wireless transmission module receives a full-field travel instruction, the human-machine communication interface first determines whether the power of the battery module is greater than a first power threshold value before the trolley body travels, if not, the full-field travel is interrupted, and the human-machine communication interface displays a low power message, and then the trolley body automatically stays at the charging position to wait, so as to use the wireless charging module to charge the battery module. The self-propelled thermal imaging system for indoor raw material storage yards as described in claim 3 also includes a remote power-off switch for power-off maintenance. As described in claim 3, the self-propelled thermal imaging system for indoor raw material storage yards, wherein if the human-machine communication interface determines that the power of the battery module is greater than the first power threshold value, the whole field walk is executed, wherein if the human-machine communication interface identifies through the infrared thermal image that the raw material pile temperature of the raw material pile is greater than the raw material pile temperature threshold value, the conveyor belt temperature of the conveyor belt is greater than the conveyor belt temperature threshold value, and the roller temperature of the roller is greater than the roller temperature threshold value, any one of the above occurs, then a high temperature warning message is automatically generated and wirelessly transmitted to the ground master control station through the wireless transmission module. As described in claim 5, the self-propelled thermal imaging system for indoor raw material storage yards, wherein, if the ground master controller needs to implement fixed-point continuous monitoring for a specific area associated with the high temperature warning message, the ground master controller inputs a fixed-point inspection command at the ground master control station to trigger the fixed-point inspection execution process, wherein, if the human-machine communication interface determines that the power of the battery module is greater than the first power threshold value, the trolley body is moved to the specific area and stopped at a fixed point, and it is determined whether the power of the battery module is greater than the second power threshold value. If so, the specific area is stopped at a fixed point and continuous visible light and thermal image monitoring is implemented. As described in claim 6, the self-propelled thermal imaging system for indoor raw material storage yards, wherein if the power of the battery module is less than the first power threshold value, the fixed-point inspection is interrupted, and the human-machine communication interface displays the low power message, and then the trolley body is forced to return to the charging position for charging. As described in claim 6, the self-propelled thermal imaging system for indoor raw material storage yards, wherein if the power of the battery module is less than the second power threshold value, the fixed-point inspection is interrupted, and the human-machine communication interface displays the low power message, and then the trolley body is forced to return to the charging position for charging. As described in claim 6, the self-propelled thermal imaging system for indoor raw material storage yards, wherein when the specific area is stopped at a fixed point for continuous visible light and thermal image monitoring, if the ground controller inputs an end of fixed-point inspection command, the trolley body returns to the charging position for charging. A self-propelled thermal imaging system for an indoor raw material storage yard as described in claim 6, wherein the first power threshold is approximately 30% and the second power threshold is approximately 20%.

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